Cross-posting slightly from this SO, with an update to this topic.
There is a link in Chrome (58) standard Developer Pane which opens a new "headless" window which reconnects magically to node inspect no matter how the app is rebuilt / restarted.
I'm running Express.js e.g. DEBUG=myapp:* supervisor -- --inspect bin/www &
and found it difficult to reconnect using the normal guid-laden URL which keeps changing. But this Chrome tool works all day reconnecting reliably.
Under Threads > Main, you should see "Node instance available. Connect".
I find the new-window less usable as I'd prefer a tab, but the auto-reconnect is so reliable I'll live with that!
The only downside I've found is when it does reconnect it clears all breakpoints.